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United States Patent | 5,698,959 |
Yanagisawa | December 16, 1997 |
An object of the present invention is to provide a robot, which is capable of moving a multi-joint arm unit in a broad area with high positioning accuracy and high speed. In the robot of the present invention, first guides are arranged in a first direction. Second guides are arranged in a second direction perpendicular to the first direction. A first moving guide is arranged parallel to the first guides and capable of moving along the second guides. A second moving guide is arranged parallel to the second guides and capable of moving along the first guides. A moving body is capable of moving on the first moving guide and the second moving guide. A first driving mechanism moves the first moving guide. A second driving mechanism moves the second moving guide. The multi-joint arm unit is rotatably attached to the moving body and has a plurality of arms whose ends are pivotably connected each other.
Inventors: | Yanagisawa; Ken (c/o, Kabushiki Kaisha Mechanic Sekkei Jimusho 5175-1, Ooaza Toyoshina, Toyoshina-machi, Minamiazumi-gun, Nagano-ken, JP) |
Appl. No.: | 627274 |
Filed: | April 4, 1996 |
Apr 05, 1995[JP] | 7-080305 |
Current U.S. Class: | 318/568.11; 74/27; 74/89.11; 74/89.23 |
Intern'l Class: | F16H 021/02; F16H 025/20 |
Field of Search: | 318/568.11,568.2,568.21 74/27,89.11,89.15,89.17,409,490.09,606 R 108/20,137,143 212/284 248/317,424,429 414/749,750,751 901/8 |
4156367 | May., 1979 | Pardo et al. | |
4729536 | Mar., 1988 | Scala. | |
4973819 | Nov., 1990 | Thatcher | 219/121. |
5214976 | Jun., 1993 | Yanagisawa | 74/479. |
5222424 | Jun., 1993 | Yanagisawa | 91/176. |
5279178 | Jan., 1994 | Yanagisawa | 74/479. |
5311790 | May., 1994 | Yanagisawa | 74/479. |
5546826 | Aug., 1996 | Yanagisawa | 74/490. |
Foreign Patent Documents | |||
2-110744 | Sep., 1990 | JP. | |
3-55182 | May., 1991 | JP. | |
5-31683 | Feb., 1993 | JP. |